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Robust speed control of a low damped electromechanical system based on CRONE control: application to a four mass experimental test bench. (English) Zbl 1142.93389
Summary: Robust speed control of a low damped electromechanical system with backlash is studied, controlled load angular speed being not measured. The proposed control strategy combines a Luenberger observer (load angular speed and load torque disturbance estimations) and a robust CRONE controller. The observer provides estimation of the load angular speed and of the disturbance torque applied on the load. Through the computation of only three independent parameters (as many as a PID controller), the CRONE controller permits to ensure the robust speed control of the load in spite of plant parametric variations and speed observation errors. The proposed control strategy is applied to a four mass experimental test bench.
MSC:
93C95Applications of control theory
70Q05Control of mechanical systems (general mechanics)
70-05Experimental work (mechanics of particles and systems)
Software:
CRONE
References:
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